JP2016183911A - Radar axial deviation determination device, radar device and radar axial deviation determination method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a radar axial deviation determination device capable of stably determining the presence/absence of the axial deviation, not being affected by a difference among objects, without using a road surface reflection.SOLUTION: An object search part 114 searches for a one-time reflection component which is composed of a distance and an intensity obtained by receiving a reflection wave reflected on the object one time from distances to the object and intensities of reflection waves calculated when a reception part 13 receives the reflection wave of an electromagnetic wave emitted by a transmission part 12. A multiple reflection component search part 115 searches for a multiple refection component which is composed of a distance and an intensity obtained by receiving a reflection wave reflected on the object multiple times by using the distance of the one-time reflection component detected by the object search part 114 from the distances to the object and the intensities of the reflection waves calculated when the reception part 13 receives the reflection wave of the electromagnetic wave emitted by the transmission part 12. An axial deviation determination part 116 determines an axial deviation on the basis of an intensity ratio function between the one-time reflection component and the multiple reflection component.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a radar apparatus attached to an automobile or the like, and an apparatus and method for determining a deviation of a reference axis in an observation coordinate system. Hereinafter, the reference axis is simply referred to as an axis.

A radar device that is attached to the front of an automobile and measures the distance, direction, and the like of an object existing in front of the automobile is used for inter-vehicle distance control, automatic brake control, and the like.
An important function of such a radar apparatus is detection of an obstacle in front of a radar-equipped vehicle. The radar-equipped vehicle is hereinafter simply referred to as the own vehicle. For the above function, it is important that the radar axis is correctly attached in the assumed direction, for example, the front direction of the vehicle body of the host vehicle. This is because if the axis is displaced at the time of installation, or if the axis is displaced by some impact after installation, the object in front of the vehicle cannot be detected to a desired distance, or the correct position cannot be measured.

On the other hand, Patent Document 1 discloses a technique for determining an axis deviation by using a reception level of reflection of a radiated radar beam from a road surface.
Patent Document 2 discloses a technique for determining an axis deviation by using a minimum detection distance, a change in the maximum detection distance, an average value of reflection levels for each distance range, and the like in a radar observation result.

Japanese Patent Laid-Open No. 2002-6032 JP 2002-202360 A

When the radar device is used for inter-vehicle distance control, automatic brake control, etc., there is no need to reflect the radar beam on the road surface, so the radiation range is designed to be narrow in the vertical direction. May not be available.
In addition, there are various objects such as two-wheeled vehicles, ordinary passenger cars, and large trucks, and there are differences in size and the like, which are objects of ranging using the radar device. Depending on the difference in size and other objects, the reception level of the radio wave reflected by the target object varies widely. For example, the reception level of the radio wave reflected by a small object such as a two-wheeled vehicle is smaller than that of a large truck. For this reason, threshold values such as the minimum detection distance, the change in the maximum detection distance, and the average value of the reflection level for each distance range in the radar observation result may not be set.

  The present invention has been made to solve the above-described problems, and can determine whether or not there is an axis deviation stably without being affected by the difference in the target object without using road surface reflection. An object is to obtain a radar axis deviation determination device.

  The radar axis misalignment determining apparatus according to the present invention is obtained by receiving a reflected wave that is reflected once by an object from the distance to the object and the intensity of the reflected wave calculated by receiving the reflected wave of the electromagnetic wave. The object search unit that searches for the one-time reflection component, and using the one-time reflection component of the object detected by the object search unit from the calculated distance to the object and the intensity of the reflected wave, the object search unit performs a plurality of times. A multiple reflection component search unit for searching for a multiple reflection component obtained by receiving the reflected wave, a single reflection component detected by the object search unit, and a multiple reflection component detected by the multiple reflection component search unit And an axis misalignment determining unit that calculates a value of an intensity ratio function of the single reflection component and the multiple reflection component and determines an axis misalignment in the radiation direction of the electromagnetic wave based on the value of the intensity ratio function. Is.

  According to the present invention, it is possible to determine the presence or absence of an axis deviation stably without being affected by the difference in target objects without using road surface reflection.

It is a figure which shows the structure of the radar apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the hardware structural example of the control calculating part in Embodiment 1 of this invention. It is a flowchart which shows the process of the control calculating part in Embodiment 1 of this invention. It is a figure explaining a 1 time reflection component and a multiple reflection component. It is a figure explaining the determination method which the axis deviation determination part in Embodiment 1 of this invention performs.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram of a radar apparatus 1 according to Embodiment 1 of the present invention.
The radar apparatus 1 includes a control calculation unit 11, a transmission unit 12, a reception unit 13, an analog / digital converter 14, a memory 15, and the like.

The control calculation unit 11 controls each part of the radar apparatus 1, and measures the distance to the target object using the digital data described later stored in the memory 15, monitors the operating state of the radar apparatus 1, and the like. .
The control calculation unit 11 is configured by, for example, a one-chip microcomputer having a CPU (Central Processing Unit) function, or a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array).
Details of the control calculation unit 11 will be described later.

The transmission unit 12 radiates electromagnetic waves into the space, and includes a transmitter (not shown), an amplifier, a transmission antenna, and the like.
The receiving unit 13 receives the reflected wave of the electromagnetic wave radiated from the transmitting unit 12 and outputs an observation signal, and includes a receiving antenna (not shown), a mixer, an amplifier, a filter circuit, and the like.

The analog-to-digital converter 14 is a converter that inputs an observation signal from the receiving unit 13 and converts it into digital voltage data at a timing controlled by the control unit 111 of the control calculation unit 11 to be described later. Output to the memory 15.
The memory 15 is a circuit that stores digital voltage data at a timing controlled by the control unit 111 of the control calculation unit 11 described later.

Here, details of the control calculation unit 11 will be described.
As shown in FIG. 1, the control calculation unit 11 includes a control unit 111, a detection unit 112, a distance measurement unit 113, an object search unit 114, a multiple reflection component search unit 115, an axis deviation determination unit 116, and the like.

  The control unit 111 includes a transmission unit 12, an analog-digital converter 14, a memory 15, a detection unit 112 of the control calculation unit 11, a distance measurement unit 113, an object search unit 114, a multiple reflection component search unit 115, and an axis deviation determination unit 116. Control the operation timing.

  The detection unit 112 reads the digital voltage data stored in the memory 15 under the control of the control unit 111, performs necessary conversion according to the radar system of the radar apparatus 1, and obtains reception intensity for a specific physical quantity. Then, the reception strength satisfying the preset condition is searched, and the specific physical quantity corresponding to the reception strength is output to the distance measurement unit 113 as a detection result.

  The distance measurement unit 113 receives the detection result from the detection unit 112 under the control of the control unit 111 and calculates the distance to the target object according to the radar method of the radar apparatus 1. Then, the calculated distance and the received intensity input from the detection unit 112 are output as measurement results to the object search unit 114 and the multiple reflection component search unit 115.

  The object search unit 114 receives the measurement result from the distance measurement unit 113 under the control of the control unit 111 and searches for a measurement result that satisfies a preset condition. If there is a measurement result of the corresponding object, the measurement result is output to the multiple reflection component search unit 115 and the axis deviation determination unit 116.

  When the measurement result of the object is input from the object search unit 114 under the control of the control unit 111, the multiple reflection component search unit 115 inputs the measurement result from the distance measurement unit 113 and is preset in the measurement result. Search for measurement results that meet the specified conditions. Then, if there is a measurement result of the corresponding multiple reflection component, the measurement result is output to the axis deviation determination unit 116, and if there is no measurement result of the corresponding multiple reflection component, information to that effect is output.

  When the measurement result of the object is input from the object search unit 114 and the measurement result of the multiple reflection component is input from the multiple reflection component search unit 115 under the control of the control unit 111, the axis deviation determination unit 116 Axis deviation determination is performed using the reception intensity indicated by the measurement result of the object output from the search unit 114 and the reception intensity of the multiple reflection component indicated by the measurement result of the multiple reflection component. The determination result is output to the outside of the radar apparatus 1, for example, a control apparatus (not shown) of the entire vehicle.

  For example, as shown in FIG. 2, the control unit 111, the detection unit 112, the distance measurement unit 113, the object search unit 114, the multiple reflection component search unit 115, and the axis deviation determination unit 116 are configured as follows. Similarly, it is realized by executing a program stored in the memory 3 constituting the one-chip microcomputer. A plurality of processors and a plurality of memories may cooperate to realize the above functions of each unit of the control calculation unit 11. Or you may implement | achieve with the logic circuit etc. on FPGA.

Next, the operation of the radar apparatus 1 configured as described above will be described.
In the radar apparatus 1, first, the transmission unit 12 radiates a transmission signal as an electromagnetic wave to the space under the control of the control unit 111 of the control calculation unit 11.
Next, the electromagnetic wave radiated into the space by the transmission unit 12 is reflected by an object existing around the radar device 1 and returned to the radar device 1, and the reception unit 13 receives the returned electromagnetic wave and outputs it as an observation signal. .

  Next, the analog-digital converter 14 converts the observation signal into digital voltage data at a timing controlled by the control unit 111. The converted digital voltage data is stored in the memory 15 at a timing controlled by the control unit 111.

Next, the control calculation unit 11 reads the digital voltage data stored in the memory 15 at a timing controlled by the control unit 111, and determines an axis deviation. The process of the control calculation unit 11 relating to this axis deviation determination will be described in detail below using the flowchart shown in FIG.
First, the detection unit 112 reads the digital voltage data stored in the memory 15 under the control of the control unit 111, performs necessary conversion or the like according to the radar system of the radar apparatus 1, and determines the reception intensity for a specific physical quantity. obtain.
The reception intensity with respect to the specific physical quantity is, for example, the reception intensity with respect to the delay time if the radar apparatus 1 is of a pulse system. Further, for example, if the radar apparatus 1 is of an FMCW (Frequency Modulated Continuous Wave) system, the received intensity with respect to the frequency.

  The detection unit 112 searches and detects a specific physical quantity having a reception intensity greater than a preset intensity threshold and having a maximum, that is, a peak, for example, for the obtained reception intensity (step ST1). Then, the detection unit 112 outputs the detected reception intensity corresponding to the specific physical quantity to the distance measurement unit 113 as a detection result.

Next, the distance measuring unit 113 calculates the distance to the target object according to the radar system of the radar apparatus 1 using the detection result output by the detecting unit 112 under the control of the control unit 111 (step ST2).
For example, if the radar apparatus 1 is a pulse type, the calculation is performed using the delay time indicated in the detection result and the propagation speed of the electromagnetic wave, that is, the speed of light. Further, for example, if the radar apparatus 1 is of the FMCW system, the frequency of the detection result for each period of the period in which the frequency increases as time elapses and the period in which the frequency decreases as time elapses are used. calculate.
Then, the distance measurement unit 113 outputs the calculated distance and the received intensity indicated in the detection result corresponding to the distance to the object search unit 114 and the multiple reflection component search unit 115 as the measurement result.

  Next, the object search unit 114 uses the measurement result output by the distance measurement unit 113 under the control of the control unit 111, and the first distance range R−ΔR set in advance to R + ΔR for the axis deviation determination target. And a measurement result greater than a preset second intensity threshold is searched (step ST3). This is a process of searching for a one-time reflection component received by the reception unit 13 after the electromagnetic wave transmitted from the transmission unit 12 is reflected by the object only once. By searching for a measurement result larger than the second intensity threshold, a one-time reflection component having a reception intensity of a magnitude that is considered to cause multiple reflection described later with reference to FIG. 4A is searched. As for the thing which multiple reflection generate | occur | produces, the thing with large reflection intensity, for example, metal objects, such as a vehicle body, can be considered. ΔR represents a measurement error. A plurality of types of first distance ranges may be provided. In addition, by appropriately adjusting the second intensity threshold, for example, a one-time reflection component from a two-wheeled vehicle is excluded, and only a one-time reflection component from a four-wheeled vehicle such as a passenger car or a truck is used for processing. Is also possible.

  Then, if there is a measurement result of the corresponding object, the object search unit 114 outputs the measurement result to the multiple reflection component search unit 115 and the axis deviation determination unit 116. If there is no measurement result of the corresponding object, information indicating that is output to the multiple reflection component search unit 115 and the axis deviation determination unit 116.

When there is a measurement result of the corresponding object (step ST3; YES), the multiple reflection component search unit 115 then outputs the measurement result output by the distance measurement unit 113 and the object search unit 114 under the control of the control unit 111. Using the measured result, the measurement result output from the distance measuring unit 113 is searched for a measurement result within a preset second distance range (step ST4). This is a process of searching for multiple reflection components.
If there is a measurement result of the corresponding multiple reflection component, the multiple reflection component search unit 115 outputs the measurement result to the axis deviation determination unit 116. If there is no measurement result of the corresponding multiple reflection component, information indicating that is output to the axis deviation determination unit 116.

As shown in FIG. 4A, the multiple reflection component means that the electromagnetic wave transmitted from the transmission unit 12 and reflected by the object A is reflected by the casing of the radar device 1, the vehicle body, etc., and again in the air. , And the component received by the receiving unit 13 after being reflected by the object A. Therefore, it can be considered that the first distance range in step ST3 described above is set to a relatively small value at which multiple reflection is likely to occur. In the multiple reflection component, since the electromagnetic wave propagates a distance twice as long as the distance of the single reflection component that is not multiple reflection, the distance measured by the distance measuring unit 113 is also doubled. In FIG. 4A, the conceptual propagation path P1 of the single reflection component is indicated by a solid line, and the conceptual propagation path P2 of the multiple reflection component is indicated by a broken line. FIG. 4B conceptually shows the reception intensity and distance of the single reflection component and the multiple reflection component. As described above, the one-time reflection component corresponds to an object measurement result output from the object search unit 114.
Therefore, it is conceivable that the second distance range set in advance is a range that takes the measurement error into consideration twice the distance of the object indicated in the measurement result output from the object search unit 114. For example, if the object distance is R1 and the measurement error is ± ΔR as described above, the second distance range is from 2 × R1−ΔR to 2 × R1 + ΔR.

  When there is a measurement result of the corresponding multiple reflection component (step ST4; YES), the axis deviation determination unit 116 then receives the reception intensity indicated in the measurement result output by the object search unit 114 under the control of the control unit 111. Axis deviation determination is performed using the reception intensity of the multiple reflection component indicated in the measurement result output by the multiple reflection component search unit 115 (steps ST5 to ST9). The determination result calculated by the axis deviation determination unit 116 is output to the outside of the radar apparatus 1, for example, a control device (not shown) of the entire vehicle.

The characteristics of the single reflection component and the multiple reflection component of the object used for determining the axis deviation will be described below.
The radar transmission intensity determined by the transmission power, wavelength, etc., irrespective of the axis deviation angle, is α. This transmission intensity corresponds to the output of the amplifier constituting the transmission unit 12. The transmission intensity α can be calculated in advance.

Consider the reception intensity of the single reflection component and the reception intensity of the multiple reflection component when the radar apparatus 1 and the object A are facing each other without radar axis deviation as shown in FIG.
The gain of the transmitting antenna of the transmission unit 12 at an angle where the object A exists when viewed from the radar apparatus 1 is Gt (0). Further, the gain of the receiving antenna of the receiving unit 13 at an angle where the object A exists when viewed from the radar apparatus 1 is Gr (0). Further, the distance from the radar apparatus 1 to the object A is D (0). Further, depending on the size of the object A, the angle at which the object A exists when viewed from the radar apparatus 1, and the like when the object A reflects electromagnetic waves in the direction of the radar apparatus 1, the vehicle body, and the like as viewed from the object A. Let the strength factor term be β (0). Thus, the gain Gt, the gain Gr, the distance D, and the intensity factor term β are values that depend on the angle at which the object A exists when viewed from the radar apparatus 1, that is, the angle of the axis deviation, and Gt (0), Gr (0), D (0), and β (0) represent values when the axis deviation angle is 0, respectively.

At this time, the propagation path of the one-time reflection component follows the amplifier of the transmission unit 12, the transmission antenna of the transmission unit 12, the space, the object A, the space, and the reception antenna of the reception unit 13 in this order. The reception intensity A1 (0) is expressed as the following expression (1) based on a so-called radar equation.
A1 (0) = [α × Gt (0) × β (0) × Gr (0)] / [{D (0)} ⁴ ] (1)

On the other hand, the propagation path of the multiple reflection component includes the amplifier of the transmission unit 12, the antenna for transmission of the transmission unit 12, the space, the object A, the space, the casing of the radar apparatus 1 and the vehicle body, the space, the object A, the space. The receiving antennas of the receiving unit 13 are traced in this order. Among these, the intensity B (0) of the electromagnetic wave that is reflected once by the object A and then reaches the casing of the radar device 1 and the vehicle body and returns, is expressed by the following equation (2). .
B (0) = [α × Gt (0) × β (0)] / [{D (0)} ⁴ ] (2)
Here, the radar apparatus 1 depends on the size of the casing of the radar apparatus 1, the vehicle body, etc., the angle with the object A, etc. Γ (0) is an intensity factor term when the case, the vehicle body, etc. reflects electromagnetic waves. Then, the intensity of the electromagnetic wave re-radiated from the housing of the radar device 1 and the vehicle body to the object A is B (0) × γ (0). Note that the strength factor term γ is a value that depends on the angle of the axis deviation similarly to the gain Gt and the like, and γ (0) represents a value when the angle of the axis deviation is zero.

The electromagnetic wave re-radiated from the housing of the radar device 1, the vehicle body, or the like toward the object A is reflected again by the object A and received by the radar device 1, and the received intensity A2 (0) of the multiple reflection component is It is expressed as the following formula (3).
A2 (0) = [B (0) × γ (0) × β (0) × Gr (0)] / [{D (0)} ⁴ ]
= [Α × Gt (0) × {β (0)} ² × γ (0) × Gr (0)] / [{D (0)} ⁸ ] (3)
At this time, the intensity ratio function [A2 (0)] / [{A1 (0)} ² ] between the reception intensity A1 (0) of the one-time reflection component and the reception intensity A2 (0) of the multiple reflection component is It is expressed as equation (4).
[A2 (0)] / [{A1 (0)} ² ] = [γ (0)] / [α × Gt (0) × Gr (0)] (4)

Even when there is a radar axis deviation as shown in FIGS. 5B and 5C, the intensity ratio function is expressed by the following equation (5) in the same theory as when there is no axis deviation. expressed. Here, the angle of the axis deviation is θ.
[A2 (θ)] / [{A1 (θ)} ² ] = [γ (θ)] / [α × Gt (θ) × Gr (θ)] (5)
As shown in Expression (4) and Expression (5), the intensity ratio function does not include β that takes a value unique to the object A, such as the size of the object A.

With respect to the intensity factor term γ, the relationship expressed by the following formula (6) is obtained assuming that the case where there is no axis deviation and the radar apparatus 1 and the object A are facing each other is the maximum.
γ (0)> γ (θ) (6)
Further, assuming that the distance between the radar apparatus 1 and the object A is almost the same in the first distance range when there is no axial deviation and when the axial deviation is not extremely large, The following equations (7) and (8) are approximated.
Gt (0) ≈Gt (θ) (7)
Gr (0) ≈Gr (θ) (8)

From the relationship between Expression (6), Expression (7), and Expression (8), the value of the intensity ratio function of the single reflection component and the multiple reflection component is smaller than that in the case of no axis deviation shown in Expression (4). The case where there is an axis deviation shown in (5) becomes smaller, and the relationship of the following formula (9) is obtained.
[A2 (0)] / [{A1 (0)} ² ]> [A2 (θ)] / [{A1 (θ)} ² ] (9)
Using the relationship of the equation (9), the axis deviation determination unit 116 performs axis deviation determination.

  That is, in step ST4, when the multiple reflection component search unit 115 determines that there is a measurement result of the multiple reflection component (step ST4; YES), the axis deviation determination unit 116 receives the single reflection component obtained from the object search unit 114. First, the value of the intensity ratio function is calculated using the received intensity and the received intensity of the multiple reflection component obtained from the multiple reflection component search unit 115 (step ST5).

Next, the axis deviation determination unit 116 determines whether a preset number of intensity ratio function values have been obtained (step ST6). As described above, the axis deviation determination is not performed using only one intensity ratio function value, but is performed using a plurality of intensity ratio function values obtained by a plurality of observations. For this reason, the axis deviation determination unit 116 stores the calculated value in the memory 15 or another memory (not shown) every time the value of the intensity ratio function is calculated in step ST5.
When the stored intensity ratio function values have reached a preset number (step ST6; YES), the axis deviation determination unit 116 uses a plurality of intensity ratio function values, for example, an average value thereof. Is calculated as the value of the intensity ratio function for determining the axis deviation, and it is determined whether it is smaller than a preset intensity ratio function threshold value (step ST7).

When the value of the intensity ratio function for determining the axis deviation calculated using the values of the plurality of intensity ratio functions is smaller than a preset intensity ratio function threshold value (step ST7; YES), the axis deviation determining unit 116 It is determined that an axis deviation has occurred (step ST8).
When the value of the intensity ratio function for determining the axis deviation calculated using the values of the plurality of intensity ratio functions is greater than or equal to a preset intensity ratio function threshold (step ST7; NO), the axis deviation determining unit 116 It is determined that there is no deviation (step ST9).

As a method for setting the intensity ratio function threshold, for example, a representative of the intensity ratio function [A2 (0)] / [{A1 (0)} ² ] using a plurality of radar apparatuses 1 that have been confirmed to have no axis deviation. It is conceivable that a value is obtained and used as a reference for comparison, and the representative value multiplied by a coefficient less than 1 is used as an intensity ratio function threshold.

  After step ST8 and step ST9, the process proceeds to step ST11 described later. Further, when there is no corresponding measurement result by the search process by the object search unit 114 (step ST3; NO), when there is no measurement result of the multiple reflection component by the search process by the multiple reflection component search unit 115 ( In step ST4; NO), and when the value of the obtained intensity ratio function has not reached the preset number (step ST6; NO), the axis deviation determination unit 116 suspends the axis deviation determination ( Step ST10), and then the process proceeds to step ST11 described later.

  Next, the control unit 111 determines whether to observe the next cycle in accordance with a preset condition, for example, a radar operation stop command by an occupant (step ST11).

  In the above description, the object search unit 114, the multiple reflection component search unit 115, and the axis deviation determination unit 116 are integrally configured as the radar apparatus 1 and the apparatus. However, the object search unit 114, the multiple reflection component search unit 115, and the axis deviation determination unit 116 may constitute a radar axis deviation determination device, and may be configured as a separate device from the radar device.

  Moreover, in the above, the case where the component reflected twice by the target object was used as a multiple reflection component was shown. However, the axis deviation may be determined using a component reflected more times. Also in this case, as described above, it is necessary to use an intensity ratio function that does not include β that takes a value specific to the object A. For example, when a three-reflection component is used as the multiple reflection component, reception of the one-reflection component is performed. The intensity ratio function divided by the cube of the intensity.

  Further, in the above, an average value or the like is calculated using the calculated values of the plurality of intensity ratio functions, and thereby the axis deviation is determined. In this way, it is possible to remove the influence of abnormal values and the like. However, the axis deviation determination may be performed using only one intensity ratio function value. That is, step ST6 may be skipped and the process may move from step ST5 to step ST7.

  Further, when the axis deviation determination is performed using the intensity ratio function as described above, if the object to be observed by the radar apparatus 1 is tilted on a slope or the like, the calculation is performed even if there is actually no axis deviation. There is a possibility that it is determined that there is an axis deviation. In order to reduce such misjudgment, it is useful to perform misalignment determination based on an average value calculated using a plurality of intensity ratio function values. In the observation by the radar apparatus 1, it is generally considered that the frequency of slopes is lower than that of flat roads. Therefore, if an average value or the like is taken, the influence of observations on slopes can be reduced. In addition to this, an acceleration sensor is installed in the vehicle to detect the direction of movement, and the map information of the navigation device is used, so that the vehicle travels on a flat road or even a straight road. Axis deviation determination may be performed using only the observation result in the case of

  As described above, according to the radar apparatus 1 according to the first embodiment, the reception intensity of the single reflection component of the object indicated by the measurement result output from the object search unit 114 and the multiple reflection component search unit 115 output The axis deviation determination unit 116 calculates the value of the intensity ratio function using the received intensity of the multiple reflection component of the object indicated in the measurement result, and performs axis deviation determination using the calculated value of the intensity ratio function. The intensity ratio function does not include β that takes a value specific to the object A depending on the size or the like of the object A, and is not affected by the difference in the target object such as the size. Therefore, the presence / absence of the axis deviation can be determined stably without being affected by the difference between the target objects without using road surface reflection.

  In the present invention, any constituent element of the embodiment can be modified or any constituent element of the embodiment can be omitted within the scope of the invention.

  DESCRIPTION OF SYMBOLS 1 radar apparatus, 2 processor, 3 memory, 11 control calculating part, 12 transmission part, 13 receiving part, 14 analog-digital converter, 15 memory, 111 control part, 112 detection part, 113 distance measurement part, 114 object search part, 115 Multiple reflection component search unit, 116 Axis deviation determination unit.

Claims (3)

An object search for searching for a one-time reflection component obtained by receiving a reflected wave reflected once by the object from the distance to the object calculated by receiving the reflected wave of the electromagnetic wave and the intensity of the reflected wave. And
It is obtained by receiving the reflected wave reflected by the object a plurality of times using the one-time reflection component by the object detected by the object search unit from the calculated distance to the object and the intensity of the reflected wave. A multiple reflection component search unit for searching for multiple reflection components,
Using the single reflection component detected by the object search unit and the multiple reflection component detected by the multiple reflection component search unit, a value of an intensity ratio function of the single reflection component and the multiple reflection component is calculated, A radar misalignment determining device, comprising: an axis misalignment determining unit that determines an axis misalignment in the radiation direction of the electromagnetic wave based on the value of the intensity ratio function. An object search for searching for a one-time reflection component obtained by receiving a reflected wave reflected once by the object from the distance to the object calculated by receiving the reflected wave of the electromagnetic wave and the intensity of the reflected wave. And
It is obtained by receiving the reflected wave reflected by the object a plurality of times using the one-time reflection component by the object detected by the object search unit from the calculated distance to the object and the intensity of the reflected wave. A multiple reflection component search unit for searching for multiple reflection components,
Using the single reflection component detected by the object search unit and the multiple reflection component detected by the multiple reflection component search unit, a value of an intensity ratio function of the single reflection component and the multiple reflection component is calculated, A radar apparatus comprising: an axis deviation determination unit that determines an axis deviation in a radiation direction of the electromagnetic wave based on the value of the intensity ratio function. A one-time reflection component obtained by the object search unit receiving the reflected wave reflected once by the object from the distance to the object calculated by receiving the reflected wave of the electromagnetic wave and the intensity of the reflected wave Explore
The reflection reflected by the object a plurality of times using the single reflection component of the object detected by the object search unit from the calculated distance to the object and the intensity of the reflected wave. Search for multiple reflection components obtained by receiving waves,
The axis deviation determination unit uses the single reflection component detected by the object search unit and the multiple reflection component detected by the multiple reflection component search unit to use an intensity ratio function of the single reflection component and the multiple reflection component. A radar axis misalignment determination method, comprising: calculating a value of the intensity ratio, and determining an axis misalignment in a radiation direction of the electromagnetic wave based on the value of the intensity ratio function.

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